[pre-commit.ci] pre-commit autoupdate

.github/dependabot.yml

@@ -1,6 +1,6 @@
 version: 2
 updates:
-- package-ecosystem: "github-actions"
-  directory: "/"
-  schedule:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
       interval: "monthly"

.github/workflows/update-flake-lock.yml

@@ -1,10 +1,8 @@
 name: update-flake-lock
-
 on:
   workflow_dispatch:
   schedule:
     - cron: '0 4 14 * *'
-
 jobs:
   update-flake-inputs:
     runs-on: ubuntu-slim

.pre-commit-config.yaml

@@ -1,39 +1,40 @@
 ci:
   autoupdate_schedule: quarterly
 repos:
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.15.5
-  hooks:
-  - id: ruff
-    args:
-    - --fix
-    - --exit-non-zero-on-fix
-    - --ignore
-    - UP036
-  - id: ruff-format
-- repo: https://github.com/cheshirekow/cmake-format-precommit
-  rev: v0.6.13
-  hooks:
-  - id: cmake-format
-- repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v22.1.0
-  hooks:
-  - id: clang-format
-- repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v6.0.0
-  hooks:
-  - id: check-added-large-files
-  - id: check-ast
-  - id: check-executables-have-shebangs
-  - id: check-json
-  - id: check-merge-conflict
-  - id: check-symlinks
-  - id: check-toml
-  - id: check-yaml
-  - id: debug-statements
-  - id: destroyed-symlinks
-  - id: detect-private-key
-  - id: end-of-file-fixer
-  - id: fix-byte-order-marker
-  - id: mixed-line-ending
-  - id: trailing-whitespace
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.26.1
+    hooks:
+      - id: gersemi
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.15.9
+    hooks:
+      - id: ruff-check
+      - id: ruff-format
+  - repo: https://github.com/pappasam/toml-sort
+    rev: v0.24.4
+    hooks:
+      - id: toml-sort-fix
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v22.1.2
+    hooks:
+      - id: clang-format
+        args:
+          - --style=Google
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+      - id: trailing-whitespace

CMakeLists.txt

@@ -11,30 +11,38 @@ option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
 
 # Project configuration
 if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
-  set(PROJECT_USE_CMAKE_EXPORT TRUE)
+    set(PROJECT_USE_CMAKE_EXPORT TRUE)
 endif()
 
 # Check if the submodule cmake have been initialized
 if(EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
-  message(STATUS "JRL cmakemodules found in the source tree.")
-  set(JRL_CMAKE_MODULES "${CMAKE_SOURCE_DIR}/cmake")
+    message(STATUS "JRL cmakemodules found in the source tree.")
+    set(JRL_CMAKE_MODULES "${CMAKE_SOURCE_DIR}/cmake")
 else()
-  find_package(jrl-cmakemodules QUIET CONFIG)
-  if(jrl-cmakemodules_FOUND)
-    get_property(
-      JRL_CMAKE_MODULES
-      TARGET jrl-cmakemodules::jrl-cmakemodules
-      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
-    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
-  else()
-    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
-    include(FetchContent)
-    FetchContent_Declare(
-      "jrl-cmakemodules"
-      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
-    FetchContent_MakeAvailable("jrl-cmakemodules")
-    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
-  endif()
+    find_package(jrl-cmakemodules QUIET CONFIG)
+    if(jrl-cmakemodules_FOUND)
+        get_property(
+            JRL_CMAKE_MODULES
+            TARGET jrl-cmakemodules::jrl-cmakemodules
+            PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        )
+        message(
+            STATUS
+            "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}"
+        )
+    else()
+        message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+        include(FetchContent)
+        FetchContent_Declare(
+            "jrl-cmakemodules"
+            GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+        )
+        FetchContent_MakeAvailable("jrl-cmakemodules")
+        FetchContent_GetProperties(
+            "jrl-cmakemodules"
+            SOURCE_DIR JRL_CMAKE_MODULES
+        )
+    endif()
 endif()
 
 # JRL-cmakemodule setup
@@ -47,95 +55,119 @@ project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 # Dependencies
 if(BUILD_PYTHON_INTERFACE)
-  add_project_dependency(eigenpy REQUIRED)
-  string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  set(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
+    add_project_dependency(eigenpy REQUIRED)
+    string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+    set(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
 endif()
 
 add_project_dependency(pinocchio REQUIRED)
 add_project_dependency(eiquadprog REQUIRED)
 
 if(BUILD_TESTING)
-  add_project_dependency(example-robot-data REQUIRED)
-  add_project_dependency(Boost REQUIRED COMPONENTS unit_test_framework)
+    add_project_dependency(example-robot-data REQUIRED)
+    add_project_dependency(Boost REQUIRED COMPONENTS unit_test_framework)
 endif()
 
 # Main library
 if(BUILD_STANDALONE_PYTHON_INTERFACE)
-  add_project_dependency(${PROJECT_NAME} REQUIRED CONFIG)
+    add_project_dependency(${PROJECT_NAME} REQUIRED CONFIG)
 else()
-  set(${PROJECT_NAME}_HEADERS
-      include/${PROJECT_NAME}/arm_ig.hpp #
-      include/${PROJECT_NAME}/leg_ig.hpp #
-      include/${PROJECT_NAME}/biped_ig.hpp #
-      include/${PROJECT_NAME}/dyna_com.hpp #
-      include/${PROJECT_NAME}/python.hpp #
-      include/${PROJECT_NAME}/contact6d.hpp #
-  )
-  set(${PROJECT_NAME}_SOURCES
-      src/arm_ig.cpp #
-      src/leg_ig.cpp #
-      src/biped_ig.cpp #
-      src/dyna_com.cpp #
-      src/contac6d.cpp #
-  )
-  add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
-                                     ${${PROJECT_NAME}_HEADERS})
-  add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
-  target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
-  target_include_directories(${PROJECT_NAME}
-                             PUBLIC $<INSTALL_INTERFACE:include>)
-  target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio
-                                               eiquadprog::eiquadprog)
+    set(${PROJECT_NAME}_HEADERS
+        include/${PROJECT_NAME}/arm_ig.hpp #
+        include/${PROJECT_NAME}/leg_ig.hpp #
+        include/${PROJECT_NAME}/biped_ig.hpp #
+        include/${PROJECT_NAME}/dyna_com.hpp #
+        include/${PROJECT_NAME}/python.hpp #
+        include/${PROJECT_NAME}/contact6d.hpp #
+    )
+    set(${PROJECT_NAME}_SOURCES
+        src/arm_ig.cpp #
+        src/leg_ig.cpp #
+        src/biped_ig.cpp #
+        src/dyna_com.cpp #
+        src/contac6d.cpp #
+    )
+    add_library(
+        ${PROJECT_NAME}
+        SHARED
+        ${${PROJECT_NAME}_SOURCES}
+        ${${PROJECT_NAME}_HEADERS}
+    )
+    add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+    target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
+    target_include_directories(
+        ${PROJECT_NAME}
+        PUBLIC $<INSTALL_INTERFACE:include>
+    )
+    target_link_libraries(
+        ${PROJECT_NAME}
+        PUBLIC pinocchio::pinocchio eiquadprog::eiquadprog
+    )
 
-  if(SUFFIX_SO_VERSION)
-    set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION
-                                                     ${PROJECT_VERSION})
-  endif()
+    if(SUFFIX_SO_VERSION)
+        set_target_properties(
+            ${PROJECT_NAME}
+            PROPERTIES SOVERSION ${PROJECT_VERSION}
+        )
+    endif()
 endif()
 
 # Python Bindings
 if(BUILD_PYTHON_INTERFACE)
-  set(${PY_NAME}_SOURCES python/contact_6d.cpp python/aig_modules.cpp
-                         python/dyna_com.cpp python/biped_ig.cpp)
-  add_library(${PY_NAME}_py SHARED ${${PY_NAME}_SOURCES})
-  target_link_libraries(${PY_NAME}_py PUBLIC ${PROJECT_NAME}::${PROJECT_NAME}
-                                             eigenpy::eigenpy)
-  get_relative_rpath(${${PY_NAME}_INSTALL_DIR} ${PY_NAME}_INSTALL_RPATH)
-  set_target_properties(
-    ${PY_NAME}_py
-    PROPERTIES INSTALL_RPATH "${${PY_NAME}_INSTALL_RPATH}"
-               LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}
-               OUTPUT_NAME ${PY_NAME}
-               PREFIX ""
-               SUFFIX ${PYTHON_EXT_SUFFIX})
-  install(TARGETS ${PY_NAME}_py DESTINATION ${${PY_NAME}_INSTALL_DIR})
-  install(DIRECTORY python/aig DESTINATION ${${PY_NAME}_INSTALL_DIR}/..)
+    set(${PY_NAME}_SOURCES
+        python/contact_6d.cpp
+        python/aig_modules.cpp
+        python/dyna_com.cpp
+        python/biped_ig.cpp
+    )
+    add_library(${PY_NAME}_py SHARED ${${PY_NAME}_SOURCES})
+    target_link_libraries(
+        ${PY_NAME}_py
+        PUBLIC ${PROJECT_NAME}::${PROJECT_NAME} eigenpy::eigenpy
+    )
+    get_relative_rpath(${${PY_NAME}_INSTALL_DIR} ${PY_NAME}_INSTALL_RPATH)
+    set_target_properties(
+        ${PY_NAME}_py
+        PROPERTIES
+            INSTALL_RPATH "${${PY_NAME}_INSTALL_RPATH}"
+            LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}
+            OUTPUT_NAME ${PY_NAME}
+            PREFIX ""
+            SUFFIX ${PYTHON_EXT_SUFFIX}
+    )
+    install(TARGETS ${PY_NAME}_py DESTINATION ${${PY_NAME}_INSTALL_DIR})
+    install(DIRECTORY python/aig DESTINATION ${${PY_NAME}_INSTALL_DIR}/..)
 endif()
 
 if(BUILD_TESTING AND NOT BUILD_STANDALONE_PYTHON_INTERFACE)
-  # Unit-Tests dependencies
-  set(${PROJECT_NAME}_CPP_TESTS
-      test_dependencies_usage #
-      test_leg_ig #
-      test_arm_ig #
-      test_biped_ig #
-  )
+    # Unit-Tests dependencies
+    set(${PROJECT_NAME}_CPP_TESTS
+        test_dependencies_usage #
+        test_leg_ig #
+        test_arm_ig #
+        test_biped_ig #
+    )
 
-  foreach(unittest_name ${${PROJECT_NAME}_CPP_TESTS})
-    add_unit_test(${unittest_name} tests/${unittest_name}.cpp)
-    target_link_libraries(
-      ${unittest_name} ${PROJECT_NAME} Boost::unit_test_framework
-      example-robot-data::example-robot-data)
-    target_compile_definitions(${unittest_name}
-                               PUBLIC "-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN")
-  endforeach()
+    foreach(unittest_name ${${PROJECT_NAME}_CPP_TESTS})
+        add_unit_test(${unittest_name} tests/${unittest_name}.cpp)
+        target_link_libraries(
+            ${unittest_name}
+            ${PROJECT_NAME}
+            Boost::unit_test_framework
+            example-robot-data::example-robot-data
+        )
+        target_compile_definitions(
+            ${unittest_name}
+            PUBLIC "-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN"
+        )
+    endforeach()
 endif()
 
 # Installation
 if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
-  install(
-    TARGETS ${PROJECT_NAME}
-    EXPORT ${TARGETS_EXPORT_NAME}
-    DESTINATION lib)
+    install(
+        TARGETS ${PROJECT_NAME}
+        EXPORT ${TARGETS_EXPORT_NAME}
+        DESTINATION lib
+    )
 endif()